For robots using legged locomotion, mathematical models of Central Pattern Generators (CPGs) are being used for controlling the complicated gaits and timing required for stable walking. Traditionally, these models are precisely designed for oscillation at a set of specific frequencies and phase relationships, which while easier to design is not conducive to robust and stable walking.
CITATION STYLE
Nourse, W., Quinn, R. D., & Szczecinski, N. S. (2018). An adaptive frequency central pattern generator for synthetic nervous systems. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10928 LNAI, pp. 361–364). Springer Verlag. https://doi.org/10.1007/978-3-319-95972-6_38
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